EP3025632A4 - Manipulator system - Google Patents
Manipulator system Download PDFInfo
- Publication number
- EP3025632A4 EP3025632A4 EP14829144.6A EP14829144A EP3025632A4 EP 3025632 A4 EP3025632 A4 EP 3025632A4 EP 14829144 A EP14829144 A EP 14829144A EP 3025632 A4 EP3025632 A4 EP 3025632A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- manipulator system
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00059—Operational features of endoscopes provided with identification means for the endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
- A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/0034—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means adapted to be inserted through a working channel of an endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40279—Flexible arm, link
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Mechanical Engineering (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Electromagnetism (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Manipulator (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013154467A JP6116426B2 (en) | 2013-07-25 | 2013-07-25 | Manipulator system |
PCT/JP2014/069261 WO2015012242A1 (en) | 2013-07-25 | 2014-07-18 | Manipulator system |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3025632A1 EP3025632A1 (en) | 2016-06-01 |
EP3025632A4 true EP3025632A4 (en) | 2017-02-08 |
Family
ID=52393280
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14829144.6A Withdrawn EP3025632A4 (en) | 2013-07-25 | 2014-07-18 | Manipulator system |
Country Status (5)
Country | Link |
---|---|
US (1) | US9878449B2 (en) |
EP (1) | EP3025632A4 (en) |
JP (1) | JP6116426B2 (en) |
CN (1) | CN105431072B (en) |
WO (1) | WO2015012242A1 (en) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6116427B2 (en) | 2013-07-26 | 2017-04-19 | オリンパス株式会社 | Manipulator and manipulator system |
JP6027947B2 (en) * | 2013-07-26 | 2016-11-16 | オリンパス株式会社 | Manipulator system |
KR102086504B1 (en) | 2015-05-15 | 2020-03-09 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | System and method for compensating force or torque limits |
JP6177488B2 (en) * | 2015-07-23 | 2017-08-09 | オリンパス株式会社 | Manipulator and medical system |
KR101861176B1 (en) * | 2016-08-16 | 2018-05-28 | 주식회사 고영테크놀러지 | Surgical robot for stereotactic surgery and method for controlling a stereotactic surgery robot |
WO2018105001A1 (en) | 2016-12-05 | 2018-06-14 | オリンパス株式会社 | Flexible manipulator |
WO2018135041A1 (en) * | 2017-01-17 | 2018-07-26 | オリンパス株式会社 | Endoscope insertion shape observing device |
JP7215809B2 (en) * | 2017-08-21 | 2023-01-31 | リライン コーポレーション | Arthroscopy apparatus and arthroscopy method |
WO2019092843A1 (en) | 2017-11-10 | 2019-05-16 | オリンパス株式会社 | Medical manipulator system and method for operating same |
WO2019181694A1 (en) * | 2018-03-23 | 2019-09-26 | Canon Kabushiki Kaisha | Continuum robot control device, continuum robot control method, and program |
JP7183062B2 (en) * | 2018-03-23 | 2022-12-05 | キヤノン株式会社 | CONTINUOUS ROBOT CONTROL DEVICE, CONTINUOUS ROBOT CONTROL METHOD AND PROGRAM |
WO2021145051A1 (en) * | 2020-01-16 | 2021-07-22 | オリンパス株式会社 | Endoscope system |
CN112545652B (en) * | 2020-12-02 | 2022-07-19 | 哈尔滨工业大学 | High-precision off-line control method for flexible wire transmission surgical instrument of minimally invasive surgical robot |
CN113729859B (en) * | 2021-10-08 | 2023-03-24 | 重庆市急救医疗中心 | Hematoma extraction system, navigation system and hematoma boundary judgment method |
CN113729942B (en) * | 2021-10-08 | 2023-03-24 | 重庆市急救医疗中心 | Hematoma removing equipment intelligent positioning device and navigation system based on mixed reality technology |
WO2023074336A1 (en) * | 2021-10-29 | 2023-05-04 | 慶應義塾 | Compensation system, compensation device, compensation method, and program |
CN114617520B (en) * | 2022-01-30 | 2024-03-19 | 常州朗合医疗器械有限公司 | Catheter head end control method, device, equipment and storage medium |
CN115813564B (en) * | 2023-02-23 | 2024-01-09 | 之江实验室 | Bending mechanism and surgical robot |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002264048A (en) * | 2001-03-08 | 2002-09-18 | Hitachi Ltd | Positioning control device for towed mechanism |
EP1769722A2 (en) * | 2005-09-28 | 2007-04-04 | Olympus Medical Systems Corp. | Endoscope system comprising endoscope to which medical instrument is attached |
US20120046522A1 (en) * | 2010-03-17 | 2012-02-23 | Olympus Medical Systems Corp. | Endoscopic system |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62167595A (en) | 1986-01-20 | 1987-07-23 | 松下電器産業株式会社 | Two-tub type washing machine |
JP2000126120A (en) * | 1998-08-21 | 2000-05-09 | Olympus Optical Co Ltd | Electrically bent endoscope |
JP3923701B2 (en) | 2000-03-17 | 2007-06-06 | オリンパス株式会社 | Endoscope |
JP2003164420A (en) * | 2001-12-04 | 2003-06-10 | Pentax Corp | Endoscope |
KR101477121B1 (en) | 2006-06-13 | 2014-12-29 | 인튜어티브 서지컬 인코포레이티드 | Minimally invasive surgical system |
WO2007146984A2 (en) | 2006-06-13 | 2007-12-21 | Intuitive Surgical, Inc. | Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system |
JP4757838B2 (en) * | 2007-05-21 | 2011-08-24 | 株式会社日立製作所 | Positioning control device for towed mechanism |
US8083669B2 (en) * | 2007-06-22 | 2011-12-27 | Olympus Medical Systems Corp. | Medical device for maintaining state of treatment portion |
JP4580973B2 (en) * | 2007-11-29 | 2010-11-17 | オリンパスメディカルシステムズ株式会社 | Treatment instrument system |
JP5137540B2 (en) | 2007-11-29 | 2013-02-06 | オリンパスメディカルシステムズ株式会社 | Endoscope system |
JP5295555B2 (en) * | 2007-12-10 | 2013-09-18 | オリンパスメディカルシステムズ株式会社 | Endoscope system |
US20090287044A1 (en) * | 2008-05-15 | 2009-11-19 | Olympus Medical Systems Corp. | Endoscopic apparatus |
JP5085684B2 (en) * | 2010-05-19 | 2012-11-28 | オリンパスメディカルシステムズ株式会社 | Treatment instrument system and manipulator system |
-
2013
- 2013-07-25 JP JP2013154467A patent/JP6116426B2/en active Active
-
2014
- 2014-07-18 WO PCT/JP2014/069261 patent/WO2015012242A1/en active Application Filing
- 2014-07-18 EP EP14829144.6A patent/EP3025632A4/en not_active Withdrawn
- 2014-07-18 CN CN201480040932.7A patent/CN105431072B/en active Active
-
2016
- 2016-01-21 US US15/002,721 patent/US9878449B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002264048A (en) * | 2001-03-08 | 2002-09-18 | Hitachi Ltd | Positioning control device for towed mechanism |
EP1769722A2 (en) * | 2005-09-28 | 2007-04-04 | Olympus Medical Systems Corp. | Endoscope system comprising endoscope to which medical instrument is attached |
US20120046522A1 (en) * | 2010-03-17 | 2012-02-23 | Olympus Medical Systems Corp. | Endoscopic system |
Non-Patent Citations (1)
Title |
---|
See also references of WO2015012242A1 * |
Also Published As
Publication number | Publication date |
---|---|
US20160136810A1 (en) | 2016-05-19 |
US9878449B2 (en) | 2018-01-30 |
CN105431072A (en) | 2016-03-23 |
CN105431072B (en) | 2017-08-25 |
WO2015012242A1 (en) | 2015-01-29 |
JP2015023950A (en) | 2015-02-05 |
JP6116426B2 (en) | 2017-04-19 |
EP3025632A1 (en) | 2016-06-01 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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STAA | Information on the status of an ep patent application or granted ep patent |
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17P | Request for examination filed |
Effective date: 20160216 |
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AK | Designated contracting states |
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AX | Request for extension of the european patent |
Extension state: BA ME |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: OLYMPUS CORPORATION |
|
DAX | Request for extension of the european patent (deleted) | ||
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: IIDA, MASATOSHI Inventor name: HATAKEYAMA, NAOYA Inventor name: WAKAI, HIROSHI |
|
A4 | Supplementary search report drawn up and despatched |
Effective date: 20170111 |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: A61B 34/00 20160101ALI20170104BHEP Ipc: B25J 18/06 20060101ALI20170104BHEP Ipc: G02B 23/24 20060101ALI20170104BHEP Ipc: A61B 1/00 20060101AFI20170104BHEP |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: OLYMPUS CORPORATION |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: HATAKEYAMA, NAOYA Inventor name: WAKAI, HIROSHI Inventor name: IIDA, MASATOSHI |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20210202 |